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<p><code>#include &lt;opencv2/rgbd/depth.hpp&gt;</code></p>
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Inheritance diagram for cv::rgbd::RgbdICPOdometry:</div>
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<area alt="cv::rgbd::Odometry" coords="0,56,168,80" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html" shape="rect"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a857b43034bb6c6d9ee42e24ed66952ba"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a857b43034bb6c6d9ee42e24ed66952ba">RgbdICPOdometry</a> ()</td></tr>
<tr class="separator:a857b43034bb6c6d9ee42e24ed66952ba"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0f13102a7ff27395e1283e26a5353114"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a0f13102a7ff27395e1283e26a5353114">RgbdICPOdometry</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;<a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ab8634229ebceb18b8472c1f7467dd43a">cameraMatrix</a>, float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a857d420228833e27aa87e156d5721789">minDepth</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4f7854bd4c50808fbb1328c8faba4023">Odometry::DEFAULT_MIN_DEPTH</a>(), float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a065b90e87ca51a0a20fc225539fd9504">maxDepth</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ab9b0710c56e1ba0d861a16cae2000c78">Odometry::DEFAULT_MAX_DEPTH</a>(), float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a45d9e421c99ae52ed99dbb2ed16fe7ca">maxDepthDiff</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>(), float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a76b55cb57ba18a605c3da5927622f10e">maxPointsPart</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9a301d39d2dd32519ac1b6f8cfefc358">Odometry::DEFAULT_MAX_POINTS_PART</a>(), const std::vector&lt; int &gt; &amp;<a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a7629d0bb783e2a749ae8ace23ac92b06">iterCounts</a>=std::vector&lt; int &gt;(), const std::vector&lt; float &gt; &amp;<a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a236858a9cbaeffcc414b67746884b31d">minGradientMagnitudes</a>=std::vector&lt; float &gt;(), int <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a515c03a41ab16c1c2d18c587bfef91e8">transformType</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95">Odometry::RIGID_BODY_MOTION</a>)</td></tr>
<tr class="separator:a0f13102a7ff27395e1283e26a5353114"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a26695ce34fa901245154493542df3fde"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a26695ce34fa901245154493542df3fde">getCameraMatrix</a> () const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a26695ce34fa901245154493542df3fde"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a735ac81d3369f4a0c40e7b0770044266"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a735ac81d3369f4a0c40e7b0770044266">getIterationCounts</a> () const</td></tr>
<tr class="separator:a735ac81d3369f4a0c40e7b0770044266"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1046f16ff60319884de5c2b989cf0a80"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a1046f16ff60319884de5c2b989cf0a80">getMaxDepth</a> () const</td></tr>
<tr class="separator:a1046f16ff60319884de5c2b989cf0a80"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aad70274b1c40f19fbef6e5f9fae93914"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#aad70274b1c40f19fbef6e5f9fae93914">getMaxDepthDiff</a> () const</td></tr>
<tr class="separator:aad70274b1c40f19fbef6e5f9fae93914"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:acef6243403867cd978d5e0541d4b5f0c"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#acef6243403867cd978d5e0541d4b5f0c">getMaxPointsPart</a> () const</td></tr>
<tr class="separator:acef6243403867cd978d5e0541d4b5f0c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aafd49b180bd2122c5fb8055d243535f7"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#aafd49b180bd2122c5fb8055d243535f7">getMaxRotation</a> () const</td></tr>
<tr class="separator:aafd49b180bd2122c5fb8055d243535f7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1b565974c4bb015fbe3a613cc26c3ecb"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a1b565974c4bb015fbe3a613cc26c3ecb">getMaxTranslation</a> () const</td></tr>
<tr class="separator:a1b565974c4bb015fbe3a613cc26c3ecb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae65ee8b97fc65ffee258296562f61ae7"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ae65ee8b97fc65ffee258296562f61ae7">getMinDepth</a> () const</td></tr>
<tr class="separator:ae65ee8b97fc65ffee258296562f61ae7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a07b2a425b6f49e4e0bb28aa1801b5cf6"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a07b2a425b6f49e4e0bb28aa1801b5cf6">getMinGradientMagnitudes</a> () const</td></tr>
<tr class="separator:a07b2a425b6f49e4e0bb28aa1801b5cf6"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aab6303b206e0e92835ec9af0c29b2613"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d1/d5b/classcv_1_1rgbd_1_1RgbdNormals.html">RgbdNormals</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#aab6303b206e0e92835ec9af0c29b2613">getNormalsComputer</a> () const</td></tr>
<tr class="separator:aab6303b206e0e92835ec9af0c29b2613"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a51e1d17d6153b00885a011799aa15043"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a51e1d17d6153b00885a011799aa15043">getTransformType</a> () const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a51e1d17d6153b00885a011799aa15043"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af1568ca5cfe8f3f1ac2fc43f8d566f7a"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#af1568ca5cfe8f3f1ac2fc43f8d566f7a">prepareFrameCache</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;frame, int cacheType) const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:af1568ca5cfe8f3f1ac2fc43f8d566f7a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a79e641eac7076266bbf8b602b19e136c"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a79e641eac7076266bbf8b602b19e136c">setCameraMatrix</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;val) <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a79e641eac7076266bbf8b602b19e136c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a14f7bb9d50983879e1a15843af08ad28"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a14f7bb9d50983879e1a15843af08ad28">setIterationCounts</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;val)</td></tr>
<tr class="separator:a14f7bb9d50983879e1a15843af08ad28"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a91904d6d9836de919c0c607400405555"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a91904d6d9836de919c0c607400405555">setMaxDepth</a> (double val)</td></tr>
<tr class="separator:a91904d6d9836de919c0c607400405555"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aeb101180d45e9aa737b4a03de93277d6"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#aeb101180d45e9aa737b4a03de93277d6">setMaxDepthDiff</a> (double val)</td></tr>
<tr class="separator:aeb101180d45e9aa737b4a03de93277d6"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7f046b11dcce8ea265c78d4c0209c505"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a7f046b11dcce8ea265c78d4c0209c505">setMaxPointsPart</a> (double val)</td></tr>
<tr class="separator:a7f046b11dcce8ea265c78d4c0209c505"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a530843e43b5b96461a883b384fc6d34a"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a530843e43b5b96461a883b384fc6d34a">setMaxRotation</a> (double val)</td></tr>
<tr class="separator:a530843e43b5b96461a883b384fc6d34a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa6b99fadf368002a1c52c30ff1bce332"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#aa6b99fadf368002a1c52c30ff1bce332">setMaxTranslation</a> (double val)</td></tr>
<tr class="separator:aa6b99fadf368002a1c52c30ff1bce332"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3f3bdad40f449d5dcabcf3229bf86cbf"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a3f3bdad40f449d5dcabcf3229bf86cbf">setMinDepth</a> (double val)</td></tr>
<tr class="separator:a3f3bdad40f449d5dcabcf3229bf86cbf"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a49d95e87df435be465ffa979733d97b9"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a49d95e87df435be465ffa979733d97b9">setMinGradientMagnitudes</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp;val)</td></tr>
<tr class="separator:a49d95e87df435be465ffa979733d97b9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae8d72a324b7f629020000cadde08beef"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ae8d72a324b7f629020000cadde08beef">setTransformType</a> (int val) <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:ae8d72a324b7f629020000cadde08beef"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_methods_classcv_1_1rgbd_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcv_1_1rgbd_1_1Odometry')"><img alt="-" src="../../closed.png"/> Public Member Functions inherited from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">cv::rgbd::Odometry</a></td></tr>
<tr class="memitem:ad88ca6c6231d5accf4b3a595d7ebaf0c inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ad88ca6c6231d5accf4b3a595d7ebaf0c">compute</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcImage, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcDepth, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;srcMask, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstImage, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstDepth, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;dstMask, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()) const</td></tr>
<tr class="separator:ad88ca6c6231d5accf4b3a595d7ebaf0c inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af706a3bb35d2b69737e7f4492c4ece4f inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#af706a3bb35d2b69737e7f4492c4ece4f">compute</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;srcFrame, <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;dstFrame, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()) const</td></tr>
<tr class="separator:af706a3bb35d2b69737e7f4492c4ece4f inherit pub_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a827c8b2781ed17574805f373e6054ff1">Algorithm</a> ()</td></tr>
<tr class="separator:a827c8b2781ed17574805f373e6054ff1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a8ae826127fa0f1f8d10a24841bd376f8">~Algorithm</a> ()</td></tr>
<tr class="separator:a8ae826127fa0f1f8d10a24841bd376f8 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">clear</a> ()</td></tr>
<tr class="memdesc:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Clears the algorithm state.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aec9c965448e4dc851d7cacd3abd84cd1">More...</a><br/></td></tr>
<tr class="separator:aec9c965448e4dc851d7cacd3abd84cd1 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">empty</a> () const</td></tr>
<tr class="memdesc:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html" title="This is a base class for all more or less complex algorithms in OpenCV. ">Algorithm</a> is empty (e.g. in the very beginning or after unsuccessful read.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ab6a18f1825475643e94381697d413972">More...</a><br/></td></tr>
<tr class="separator:ab6a18f1825475643e94381697d413972 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a286fc82744ccab3d248aca44524266a9">getDefaultName</a> () const</td></tr>
<tr class="separator:a286fc82744ccab3d248aca44524266a9 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Reads algorithm parameters from a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#aef2ad3f4145bd6e8c3664eb1c4b5e1e6">More...</a><br/></td></tr>
<tr class="separator:aef2ad3f4145bd6e8c3664eb1c4b5e1e6 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a0a880744bc4e3f45711444571df47d67">save</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename) const</td></tr>
<tr class="separator:a0a880744bc4e3f45711444571df47d67 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">write</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="memdesc:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Stores algorithm parameters in a file storage.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a1f8ad7b8add515077367fb9949a174d2">More...</a><br/></td></tr>
<tr class="separator:a1f8ad7b8add515077367fb9949a174d2 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">write</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &gt; &amp;fs, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;name=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>()) const</td></tr>
<tr class="memdesc:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">simplified API for language bindings This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a763a62d1b03042eef7d7fc3ac6c87c79">More...</a><br/></td></tr>
<tr class="separator:a763a62d1b03042eef7d7fc3ac6c87c79 inherit pub_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a05db54983c3635cd0a9219c0daa556b5"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html">RgbdICPOdometry</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a05db54983c3635cd0a9219c0daa556b5">create</a> (const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;<a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ab8634229ebceb18b8472c1f7467dd43a">cameraMatrix</a>=<a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>(), float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a857d420228833e27aa87e156d5721789">minDepth</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4f7854bd4c50808fbb1328c8faba4023">Odometry::DEFAULT_MIN_DEPTH</a>(), float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a065b90e87ca51a0a20fc225539fd9504">maxDepth</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ab9b0710c56e1ba0d861a16cae2000c78">Odometry::DEFAULT_MAX_DEPTH</a>(), float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a45d9e421c99ae52ed99dbb2ed16fe7ca">maxDepthDiff</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>(), float <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a76b55cb57ba18a605c3da5927622f10e">maxPointsPart</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9a301d39d2dd32519ac1b6f8cfefc358">Odometry::DEFAULT_MAX_POINTS_PART</a>(), const std::vector&lt; int &gt; &amp;<a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a7629d0bb783e2a749ae8ace23ac92b06">iterCounts</a>=std::vector&lt; int &gt;(), const std::vector&lt; float &gt; &amp;<a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a236858a9cbaeffcc414b67746884b31d">minGradientMagnitudes</a>=std::vector&lt; float &gt;(), int <a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a515c03a41ab16c1c2d18c587bfef91e8">transformType</a>=<a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95">Odometry::RIGID_BODY_MOTION</a>)</td></tr>
<tr class="separator:a05db54983c3635cd0a9219c0daa556b5"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcv_1_1rgbd_1_1Odometry')"><img alt="-" src="../../closed.png"/> Static Public Member Functions inherited from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">cv::rgbd::Odometry</a></td></tr>
<tr class="memitem:a7763a1c1ffaff84eb3de6b6c83d157af inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a7763a1c1ffaff84eb3de6b6c83d157af">create</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;odometryType)</td></tr>
<tr class="separator:a7763a1c1ffaff84eb3de6b6c83d157af inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab9b0710c56e1ba0d861a16cae2000c78 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ab9b0710c56e1ba0d861a16cae2000c78">DEFAULT_MAX_DEPTH</a> ()</td></tr>
<tr class="separator:ab9b0710c56e1ba0d861a16cae2000c78 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ace1301318716355d12586c3028e84e1e inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">DEFAULT_MAX_DEPTH_DIFF</a> ()</td></tr>
<tr class="separator:ace1301318716355d12586c3028e84e1e inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a9a301d39d2dd32519ac1b6f8cfefc358 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9a301d39d2dd32519ac1b6f8cfefc358">DEFAULT_MAX_POINTS_PART</a> ()</td></tr>
<tr class="separator:a9a301d39d2dd32519ac1b6f8cfefc358 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a47b0d3af975ec11c285bb544d54b3720 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a47b0d3af975ec11c285bb544d54b3720">DEFAULT_MAX_ROTATION</a> ()</td></tr>
<tr class="separator:a47b0d3af975ec11c285bb544d54b3720 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a6a08d1b708ab5de096df80d90f9029b6 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a6a08d1b708ab5de096df80d90f9029b6">DEFAULT_MAX_TRANSLATION</a> ()</td></tr>
<tr class="separator:a6a08d1b708ab5de096df80d90f9029b6 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4f7854bd4c50808fbb1328c8faba4023 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4f7854bd4c50808fbb1328c8faba4023">DEFAULT_MIN_DEPTH</a> ()</td></tr>
<tr class="separator:a4f7854bd4c50808fbb1328c8faba4023 inherit pub_static_methods_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_static_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Static Public Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">load</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;filename, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Loads algorithm from the file.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a623841c33b58ea9c4847da04607e067b">More...</a><br/></td></tr>
<tr class="separator:a623841c33b58ea9c4847da04607e067b inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">loadFromString</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;strModel, const <a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a> &amp;objname=<a class="el" href="../../dc/d84/group__core__basic.html#ga1f6634802eeadfd7245bc75cf3e216c2">String</a>())</td></tr>
<tr class="memdesc:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Loads algorithm from a String.  <a href="../../d3/d46/classcv_1_1Algorithm.html#a3ba305a10d02479c13cf7d169c321547">More...</a><br/></td></tr>
<tr class="separator:a3ba305a10d02479c13cf7d169c321547 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memTemplParams" colspan="2">template&lt;typename _Tp &gt; </td></tr>
<tr class="memitem:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td align="right" class="memTemplItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; _Tp &gt; </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">read</a> (const <a class="el" href="../../de/dd9/classcv_1_1FileNode.html">FileNode</a> &amp;fn)</td></tr>
<tr class="memdesc:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="mdescLeft"> </td><td class="mdescRight">Reads algorithm from the file node.  <a href="../../d3/d46/classcv_1_1Algorithm.html#ad8c591bacb34c485f5b7a250c314fc53">More...</a><br/></td></tr>
<tr class="separator:ad8c591bacb34c485f5b7a250c314fc53 inherit pub_static_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a06f66c25c30dfa6ec51ec945f880eec9"><td align="right" class="memItemLeft" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a06f66c25c30dfa6ec51ec945f880eec9">checkParams</a> () const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
<tr class="separator:a06f66c25c30dfa6ec51ec945f880eec9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad2a5f64789923118ace25a83efbaab7f"><td align="right" class="memItemLeft" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ad2a5f64789923118ace25a83efbaab7f">computeImpl</a> (const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;srcFrame, const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp;dstFrame, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> Rt, const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp;initRt) const <a class="el" href="../../db/de0/group__core__utils.html#ga4d89d63e402ef9ddc48e18e21180fe4a">CV_OVERRIDE</a></td></tr>
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<tr class="inherit_header pro_methods_classcv_1_1Algorithm"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcv_1_1Algorithm')"><img alt="-" src="../../closed.png"/> Protected Member Functions inherited from <a class="el" href="../../d3/d46/classcv_1_1Algorithm.html">cv::Algorithm</a></td></tr>
<tr class="memitem:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d3/d46/classcv_1_1Algorithm.html#a68eeca71617474ad3d4561786f0289d2">writeFormat</a> (<a class="el" href="../../da/d56/classcv_1_1FileStorage.html">FileStorage</a> &amp;fs) const</td></tr>
<tr class="separator:a68eeca71617474ad3d4561786f0289d2 inherit pro_methods_classcv_1_1Algorithm"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:ab8634229ebceb18b8472c1f7467dd43a"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ab8634229ebceb18b8472c1f7467dd43a">cameraMatrix</a></td></tr>
<tr class="separator:ab8634229ebceb18b8472c1f7467dd43a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7629d0bb783e2a749ae8ace23ac92b06"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a7629d0bb783e2a749ae8ace23ac92b06">iterCounts</a></td></tr>
<tr class="separator:a7629d0bb783e2a749ae8ace23ac92b06"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a065b90e87ca51a0a20fc225539fd9504"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a065b90e87ca51a0a20fc225539fd9504">maxDepth</a></td></tr>
<tr class="separator:a065b90e87ca51a0a20fc225539fd9504"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a45d9e421c99ae52ed99dbb2ed16fe7ca"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a45d9e421c99ae52ed99dbb2ed16fe7ca">maxDepthDiff</a></td></tr>
<tr class="separator:a45d9e421c99ae52ed99dbb2ed16fe7ca"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a76b55cb57ba18a605c3da5927622f10e"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a76b55cb57ba18a605c3da5927622f10e">maxPointsPart</a></td></tr>
<tr class="separator:a76b55cb57ba18a605c3da5927622f10e"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8a27d345552b282b5de085320b8b2469"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a8a27d345552b282b5de085320b8b2469">maxRotation</a></td></tr>
<tr class="separator:a8a27d345552b282b5de085320b8b2469"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:af2eba6314e7454dfb3edf3929714a60a"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#af2eba6314e7454dfb3edf3929714a60a">maxTranslation</a></td></tr>
<tr class="separator:af2eba6314e7454dfb3edf3929714a60a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a857d420228833e27aa87e156d5721789"><td align="right" class="memItemLeft" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a857d420228833e27aa87e156d5721789">minDepth</a></td></tr>
<tr class="separator:a857d420228833e27aa87e156d5721789"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a236858a9cbaeffcc414b67746884b31d"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a236858a9cbaeffcc414b67746884b31d">minGradientMagnitudes</a></td></tr>
<tr class="separator:a236858a9cbaeffcc414b67746884b31d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8da046b88ef9b8aaba29827efc40522d"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d1/d5b/classcv_1_1rgbd_1_1RgbdNormals.html">RgbdNormals</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a8da046b88ef9b8aaba29827efc40522d">normalsComputer</a></td></tr>
<tr class="separator:a8da046b88ef9b8aaba29827efc40522d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a515c03a41ab16c1c2d18c587bfef91e8"><td align="right" class="memItemLeft" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a515c03a41ab16c1c2d18c587bfef91e8">transformType</a></td></tr>
<tr class="separator:a515c03a41ab16c1c2d18c587bfef91e8"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_classcv_1_1rgbd_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classcv_1_1rgbd_1_1Odometry')"><img alt="-" src="../../closed.png"/> Public Types inherited from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">cv::rgbd::Odometry</a></td></tr>
<tr class="memitem:ae7a3edbfabe941c9af6bd0f9beff53d0 inherit pub_types_classcv_1_1rgbd_1_1Odometry"><td align="right" class="memItemLeft" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0ae3468f480f38fd07af69c3464c87d558">ROTATION</a> = 1, 
<br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0ac2ff112f8f88bc6d52804e7381ac48c4">TRANSLATION</a> = 2, 
<br/>
  <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95">RIGID_BODY_MOTION</a> = 4
<br/>
 }</td></tr>
<tr class="separator:ae7a3edbfabe941c9af6bd0f9beff53d0 inherit pub_types_classcv_1_1rgbd_1_1Odometry"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html">Odometry</a> that merges <a class="el" href="../../d0/d60/classcv_1_1rgbd_1_1RgbdOdometry.html">RgbdOdometry</a> and <a class="el" href="../../d7/d83/classcv_1_1rgbd_1_1ICPOdometry.html">ICPOdometry</a> by minimize sum of their energy functions. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a857b43034bb6c6d9ee42e24ed66952ba"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a857b43034bb6c6d9ee42e24ed66952ba">◆ </a></span>RgbdICPOdometry() <span class="overload">[1/2]</span></h2>
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          <td class="memname">cv::rgbd::RgbdICPOdometry::RgbdICPOdometry </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">
</div>
</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0f13102a7ff27395e1283e26a5353114">◆ </a></span>RgbdICPOdometry() <span class="overload">[2/2]</span></h2>
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          <td class="memname">cv::rgbd::RgbdICPOdometry::RgbdICPOdometry </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>cameraMatrix</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>minDepth</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4f7854bd4c50808fbb1328c8faba4023">Odometry::DEFAULT_MIN_DEPTH</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>maxDepth</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ab9b0710c56e1ba0d861a16cae2000c78">Odometry::DEFAULT_MAX_DEPTH</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>maxDepthDiff</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>maxPointsPart</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9a301d39d2dd32519ac1b6f8cfefc358">Odometry::DEFAULT_MAX_POINTS_PART</a>()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp; </td>
          <td class="paramname"><em>iterCounts</em> = <code>std::vector&lt; int &gt;()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; float &gt; &amp; </td>
          <td class="paramname"><em>minGradientMagnitudes</em> = <code>std::vector&lt; float &gt;()</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>transformType</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95">Odometry::RIGID_BODY_MOTION</a></code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Constructor. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cameraMatrix</td><td>Camera matrix </td></tr>
    <tr><td class="paramname">minDepth</td><td>Pixels with depth less than minDepth will not be used </td></tr>
    <tr><td class="paramname">maxDepth</td><td>Pixels with depth larger than maxDepth will not be used </td></tr>
    <tr><td class="paramname">maxDepthDiff</td><td>Correspondences between pixels of two given frames will be filtered out if their depth difference is larger than maxDepthDiff </td></tr>
    <tr><td class="paramname">maxPointsPart</td><td>The method uses a random pixels subset of size frameWidth x frameHeight x pointsPart </td></tr>
    <tr><td class="paramname">iterCounts</td><td>Count of iterations on each pyramid level. </td></tr>
    <tr><td class="paramname">minGradientMagnitudes</td><td>For each pyramid level the pixels will be filtered out if they have gradient magnitude less than minGradientMagnitudes[level]. </td></tr>
    <tr><td class="paramname">transformType</td><td>Class of trasformation </td></tr>
  </table>
  </dd>
</dl>
</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a06f66c25c30dfa6ec51ec945f880eec9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a06f66c25c30dfa6ec51ec945f880eec9">◆ </a></span>checkParams()</h2>
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          <td class="memname">virtual void cv::rgbd::RgbdICPOdometry::checkParams </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ac4fbc5da04bddaead526fd3470b5019b">cv::rgbd::Odometry</a>.</p>
</div>
</div>
<a id="ad2a5f64789923118ace25a83efbaab7f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad2a5f64789923118ace25a83efbaab7f">◆ </a></span>computeImpl()</h2>
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          <td class="memname">virtual bool cv::rgbd::RgbdICPOdometry::computeImpl </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>srcFrame</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>dstFrame</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>Rt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>initRt</em> </td>
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        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4cf0681bb36181a8dbb3340b0d0e667e">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a05db54983c3635cd0a9219c0daa556b5">◆ </a></span>create()</h2>
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          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html">RgbdICPOdometry</a>&gt; cv::rgbd::RgbdICPOdometry::create </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a> &amp; </td>
          <td class="paramname"><em>cameraMatrix</em> = <code><a class="el" href="../../d3/d63/classcv_1_1Mat.html">Mat</a>()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>minDepth</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a4f7854bd4c50808fbb1328c8faba4023">Odometry::DEFAULT_MIN_DEPTH</a>()</code>, </td>
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          <td class="paramtype">float </td>
          <td class="paramname"><em>maxDepth</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ab9b0710c56e1ba0d861a16cae2000c78">Odometry::DEFAULT_MAX_DEPTH</a>()</code>, </td>
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          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>maxDepthDiff</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ace1301318716355d12586c3028e84e1e">Odometry::DEFAULT_MAX_DEPTH_DIFF</a>()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>maxPointsPart</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9a301d39d2dd32519ac1b6f8cfefc358">Odometry::DEFAULT_MAX_POINTS_PART</a>()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp; </td>
          <td class="paramname"><em>iterCounts</em> = <code>std::vector&lt; int &gt;()</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; float &gt; &amp; </td>
          <td class="paramname"><em>minGradientMagnitudes</em> = <code>std::vector&lt; float &gt;()</code>, </td>
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          <td class="paramtype">int </td>
          <td class="paramname"><em>transformType</em> = <code><a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ae7a3edbfabe941c9af6bd0f9beff53d0a754692ca9d6cadbc925cc7ce2337ed95">Odometry::RIGID_BODY_MOTION</a></code> </td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd.RgbdICPOdometry_create(</td><td class="paramname">[, cameraMatrix[, minDepth[, maxDepth[, maxDepthDiff[, maxPointsPart[, iterCounts[, minGradientMagnitudes[, transformType]]]]]]]]</td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a26695ce34fa901245154493542df3fde">◆ </a></span>getCameraMatrix()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::rgbd::RgbdICPOdometry::getCameraMatrix </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getCameraMatrix(</td><td class="paramname"></td><td>)</td></tr></table>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a79e641eac7076266bbf8b602b19e136c">setCameraMatrix</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a9eb4dd7790987524cd5aa5355c602422">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a735ac81d3369f4a0c40e7b0770044266">◆ </a></span>getIterationCounts()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::rgbd::RgbdICPOdometry::getIterationCounts </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getIterationCounts(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a1046f16ff60319884de5c2b989cf0a80">◆ </a></span>getMaxDepth()</h2>
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          <td class="memname">double cv::rgbd::RgbdICPOdometry::getMaxDepth </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getMaxDepth(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#aad70274b1c40f19fbef6e5f9fae93914">◆ </a></span>getMaxDepthDiff()</h2>
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          <td class="memname">double cv::rgbd::RgbdICPOdometry::getMaxDepthDiff </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getMaxDepthDiff(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#acef6243403867cd978d5e0541d4b5f0c">◆ </a></span>getMaxPointsPart()</h2>
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          <td class="memname">double cv::rgbd::RgbdICPOdometry::getMaxPointsPart </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getMaxPointsPart(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#aafd49b180bd2122c5fb8055d243535f7">◆ </a></span>getMaxRotation()</h2>
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          <td class="memname">double cv::rgbd::RgbdICPOdometry::getMaxRotation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getMaxRotation(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a1b565974c4bb015fbe3a613cc26c3ecb">◆ </a></span>getMaxTranslation()</h2>
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          <td class="memname">double cv::rgbd::RgbdICPOdometry::getMaxTranslation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getMaxTranslation(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#ae65ee8b97fc65ffee258296562f61ae7">◆ </a></span>getMinDepth()</h2>
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          <td class="memname">double cv::rgbd::RgbdICPOdometry::getMinDepth </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getMinDepth(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a07b2a425b6f49e4e0bb28aa1801b5cf6">◆ </a></span>getMinGradientMagnitudes()</h2>
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          <td class="memname"><a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> cv::rgbd::RgbdICPOdometry::getMinGradientMagnitudes </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getMinGradientMagnitudes(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#aab6303b206e0e92835ec9af0c29b2613">◆ </a></span>getNormalsComputer()</h2>
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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d1/d5b/classcv_1_1rgbd_1_1RgbdNormals.html">RgbdNormals</a>&gt; cv::rgbd::RgbdICPOdometry::getNormalsComputer </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.getNormalsComputer(</td><td class="paramname"></td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#a51e1d17d6153b00885a011799aa15043">◆ </a></span>getTransformType()</h2>
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          <td class="memname">int cv::rgbd::RgbdICPOdometry::getTransformType </td>
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          <td class="paramname"></td><td>)</td>
          <td> const</td>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#ae8d72a324b7f629020000cadde08beef">setTransformType</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#ac1cd3bb8aa12d895ec403db30d786b2f">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#af1568ca5cfe8f3f1ac2fc43f8d566f7a">◆ </a></span>prepareFrameCache()</h2>
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          <td class="memname">virtual <a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> cv::rgbd::RgbdICPOdometry::prepareFrameCache </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d7/d15/structcv_1_1rgbd_1_1OdometryFrame.html">OdometryFrame</a> &gt; &amp; </td>
          <td class="paramname"><em>frame</em>, </td>
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          <td class="paramtype">int </td>
          <td class="paramname"><em>cacheType</em> </td>
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          <td>)</td>
          <td></td><td> const</td>
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<p>Prepare a cache for the frame. The function checks the precomputed/passed data (throws the error if this data does not satisfy) and computes all remaining cache data needed for the frame. Returned size is a resolution of the prepared frame. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">frame</td><td>The odometry which will process the frame. </td></tr>
    <tr><td class="paramname">cacheType</td><td>The cache type: CACHE_SRC, CACHE_DST or CACHE_ALL. </td></tr>
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<p>Reimplemented from <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a894cc56de5ecc916d19a7984c6f307a8">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a79e641eac7076266bbf8b602b19e136c">◆ </a></span>setCameraMatrix()</h2>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setCameraMatrix </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp; </td>
          <td class="paramname"><em>val</em></td><td>)</td>
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<p></p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a26695ce34fa901245154493542df3fde">getCameraMatrix</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a658b4fd102a96211fba428b16633b1c8">cv::rgbd::Odometry</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a14f7bb9d50983879e1a15843af08ad28">◆ </a></span>setIterationCounts()</h2>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setIterationCounts </td>
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          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp; </td>
          <td class="paramname"><em>val</em></td><td>)</td>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setMaxDepth </td>
          <td>(</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.setMaxDepth(</td><td class="paramname">val</td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#aeb101180d45e9aa737b4a03de93277d6">◆ </a></span>setMaxDepthDiff()</h2>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setMaxDepthDiff </td>
          <td>(</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.setMaxDepthDiff(</td><td class="paramname">val</td><td>)</td></tr></table>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setMaxPointsPart </td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.setMaxPointsPart(</td><td class="paramname">val</td><td>)</td></tr></table>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setMaxRotation </td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.setMaxRotation(</td><td class="paramname">val</td><td>)</td></tr></table>
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<h2 class="memtitle"><span class="permalink"><a href="#aa6b99fadf368002a1c52c30ff1bce332">◆ </a></span>setMaxTranslation()</h2>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setMaxTranslation </td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.setMaxTranslation(</td><td class="paramname">val</td><td>)</td></tr></table>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setMinDepth </td>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setMinGradientMagnitudes </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d3/d63/classcv_1_1Mat.html">cv::Mat</a> &amp; </td>
          <td class="paramname"><em>val</em></td><td>)</td>
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</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>None</td><td>=</td><td>cv.rgbd_RgbdICPOdometry.setMinGradientMagnitudes(</td><td class="paramname">val</td><td>)</td></tr></table>
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          <td class="memname">void cv::rgbd::RgbdICPOdometry::setTransformType </td>
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<p></p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d2/d0f/classcv_1_1rgbd_1_1RgbdICPOdometry.html#a51e1d17d6153b00885a011799aa15043">getTransformType</a> </dd></dl>
<p>Implements <a class="el" href="../../df/ddc/classcv_1_1rgbd_1_1Odometry.html#a8b4b267ab88b06d85cd394a84553181d">cv::rgbd::Odometry</a>.</p>
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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../d1/d5b/classcv_1_1rgbd_1_1RgbdNormals.html">RgbdNormals</a>&gt; cv::rgbd::RgbdICPOdometry::normalsComputer</td>
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<hr/>The documentation for this class was generated from the following file:<ul>
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